Woodruff School of Mechanical Engineering
Distributed coordination and estimation in robotic swarms
Dr. Sonia Martinez
University of California, San Diego
Thursday, May 2, 2019 at 11:00:00 AM
MRDC Building, Room 4211
Dr. Samuel Graham
Self-organization and coordinated behavior are widespread phenomena in nature with unique characteristics that greatly inspire the design of robotic swarms and networks, including graceful degradation, adaptiveness, and resilience. As in many-particle systems, each intelligent agent in a network or swarm reacts to local interactions and yet, meaningful collective behavior should emerge. To translate this vision into man-made systems with guaranteed performance, a new engineering of autonomy should overcome the challenges imposed by the limited capabilities of robotic agents. Motivated by this, we present ongoing work in the control of infrastructure networks and large-swarm coordination, along with a discussion on modeling approaches, analysis tools, and architectural trade-offs in small to large-sized robotic swarms.
Sonia Martínez is a Professor at the Department of Mechanical and Aerospace Engineering at the University of California, San Diego. Prof. Martínez received her Ph.D. degree in Engineering Mathematics from the Universidad Carlos III de Madrid, Spain, in May 2002. Following a year as a Visiting Assistant Professor of Applied Mathematics at the Technical University of Catalonia, Spain, she obtained a Postdoctoral Fulbright Fellowship and held appointments at the Coordinated Science Laboratory of the University of Illinois, Urbana-Champaign during 2004, and at the Center for Control, Dynamical systems and Computation (CCDC) of the University of California, Santa Barbara during 2005. From January 2006 to June 2010, she was an Assistant Professor with the department of Mechanical and Aerospace Engineering at the University of California, San Diego. From July 2010 to June 2014, she was an Associate Professor with the department of Mechanical and Aerospace Engineering at the University of California, San Diego. Dr Martínez' research interests include networked control systems, multi-agent systems, and nonlinear control theory with applications to robotics and cyber-physical systems. In particular, she has focused on the modeling and control of robotic sensor networks, the development of distributed coordination algorithms for groups of autonomous vehicles, and the geometric control of mechanical systems. For her work on the control of underactuated mechanical systems she received the Best Student Paper award at the 2002 IEEE Conference on Decision and Control. She was the recipient of a NSF CAREER Award in 2007. For the paper 'Motion coordination with Distributed Information,' co-authored with Jorge Cortés and Francesco Bullo, she received the 2008 Control Systems Magazine Outstanding Paper Award. She is a Senior Editor of the IEEE Transactions on Control of Networked Systems and an IEEE Fellow.
Refreshments will be served.